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49 lines
1.6 KiB
49 lines
1.6 KiB
#!/usr/bin/env python3 |
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import serial |
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import re |
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import datetime |
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import sys |
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def capture_data(): |
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num_re = r"([\-0-9\.]+)" |
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line_re = re.compile(r".*inputs: acc=\({0}, {0}, {0}\) gyro=\({0}, {0}, {0}\) mag=\({0}, {0}, {0}\)".format(num_re)) |
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if len(sys.argv) >= 2: |
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ser_url = sys.argv[1] |
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else: |
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ser_url = "hwgrep://" |
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if len(sys.argv) >= 3: |
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fname = sys.argv[2] |
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f = open(fname, "w") |
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else: |
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f = sys.stdout |
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# timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S") |
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# fname = "UGVDATA_{}.csv".format(timestr) |
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ser = serial.serial_for_url(ser_url, baudrate=115200, parity=serial.PARITY_NONE, |
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stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS) |
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with ser, f: |
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try: |
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f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n") |
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while True: |
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try: |
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line = ser.read_until().decode("utf-8") |
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except Exception as e: |
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print("line decode error: ", e, file=sys.stderr) |
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continue |
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matches = line_re.match(line) |
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if not matches: |
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print("line did not match: ", line, file=sys.stderr) |
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continue |
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nums = [str(numstr) for numstr in matches.groups()] |
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if len(nums) != 9: |
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continue |
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f.write(",".join(nums)) |
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f.write("\n") |
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f.flush() |
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except KeyboardInterrupt: |
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print("interrupt", file=sys.stderr) |
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finally: |
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f.flush() |
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if __name__ == "__main__": |
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capture_data() |